航天器姿态受限的协同势函数族设计方法  

Synergistic Potential Functions for Constrained Attitude Control of Rigid Spacecraft

作　　者：岳程斐 霍涛 陈雪芹[2] 沈强 曹喜滨[2] YUE Cheng-Fei;HUO Tao;CHEN Xue-Qin;SHEN Qiang;CAO Xi-Bin(Institute of Space Science and Applied Technology,Harbin Institute of Technology(Shenzhen),Shenzhen 518055;Research Center of Satellite Technology,Harbin Institute of Technology,Harbin 150001;School of Aeronautics and Astronautics,Shanghai Jiao Tong University,Shanghai 200240)

机构地区：[1]哈尔滨工业大学(深圳)空间科学与应用技术研究院,深圳518055 [2]哈尔滨工业大学卫星技术研究所,哈尔滨150001 [3]上海交通大学航空航天学院,上海200240

出　　处：《自动化学报》2024年第1期54-65,共12页Acta Automatica Sinica

基　　金：国家自然科学基金(62003115,11972130)资助。

摘　　要：提出一种考虑航天器姿态约束的协同势函数设计方法,在姿态全局收敛的同时,保证姿态在机动过程中始终满足姿态约束.首先,建立航天器姿态指向约束模型,并针对每一个指向约束设计软约束区域;然后,基于“角度扰动”方法设计协同势函数族;接着,通过设计协同势函数族内函数切换规律,在软约束区域内构建满足姿态约束的势函数,并给出区域内势函数临界点分布的调整方法;最后,将所得的势函数用于航天器的避障控制,以比例-微分控制为例,通过数值仿真,验证该方法的有效性.A synergistic potential functions design method considering attitude constraints is proposed to ensure the global convergence of attitude while always satisfying attitude constraints during the attitude maneuver.First,an attitude pointing constraint model is developed,and a soft constraint region is designed for each pointing con-straint.Then,a family of synergistic potential functions is designed based on the“angular warping”.Next,using the common fractional and logarithmic forms of repulsive potential functions,a potential function considering the attitude constraint is designed in the soft constraint region by using the synergistic potential functions and a meth-od to adjust the distribution of critical points in the soft constraint region by controlling the parameters of this po-tential function is given.Finally,the designed potential function is used in the controller design.The effectiveness of the proposed method is verified by numerical simulations using proportional-derivative control as an example.

关 键 词：航天器控制 协同势函数 姿态约束 姿态控制 三维特殊正交群 

分 类 号：V448.22[航空宇航科学与技术—飞行器设计]